CN113090865B - Self-stabilizing walking mechanism of pipeline robot - Google Patents
Self-stabilizing walking mechanism of pipeline robot Download PDFInfo
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- CN113090865B CN113090865B CN202110387328.3A CN202110387328A CN113090865B CN 113090865 B CN113090865 B CN 113090865B CN 202110387328 A CN202110387328 A CN 202110387328A CN 113090865 B CN113090865 B CN 113090865B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a self-stabilizing walking mechanism of a pipeline robot, which comprises a walking unit section, an adjusting group, an auxiliary wheel group, a driving group and a walking group, the walking unit sections are arranged equidistantly from left to right, the two ends of the walking unit sections are provided with adjusting groups, the adjusting groups are provided with auxiliary wheel groups and driving groups, the walking unit sections are provided with walking groups, the adjusting groups adopted by the invention can adjust and support the auxiliary wheel groups on the inner wall of the pipeline according to the size of the pipeline, so that the auxiliary wheel set and the inner wall of the pipeline are supported and walk at multiple points, the stability of walking on the inner wall of the pipeline is ensured, the pipeline robot is prevented from being clamped in an inclined way in the walking process, meanwhile, the driving set is adopted to drive the adjusting set to rotate and adjust, the driving shaft is in hinged fit with the connecting rod, so that the driving shaft and the connecting rod are convenient to bend, and the phenomenon that the supporting disc is clamped when the supporting disc moves to the bent pipe of the pipeline is avoided.
Description
Technical Field
The invention relates to the technical field of self-stabilizing walking of pipeline robots, in particular to a self-stabilizing walking mechanism of a pipeline robot.
Background
A pipeline is a device for transporting a gas, liquid or fluid with solid particles, connected by pipes, pipe couplings, valves, etc. Generally, after being pressurized by an air blower, a compressor, a pump, a boiler and the like, fluid flows from a high-pressure position to a low-pressure position of a pipeline, and can be conveyed by utilizing the pressure or gravity of the fluid, the pipeline is widely used and mainly used in water supply, drainage, heat supply, gas supply, long-distance petroleum and natural gas conveying, agricultural irrigation, hydraulic engineering and various industrial devices, a pipeline robot is a machine, electricity and instrument integrated system which can automatically walk along the inside or the outside of a tiny pipeline and carry a sensor and an operating machine, and carries out a series of pipeline operations under the remote control of a worker or the automatic control of a computer, but the following problems can occur in the self-stable walking process of the pipeline robot:
1. the traditional pipeline robot adopts a left wheel and a right wheel to directly enter a pipeline to move, and the pipeline is of an arc structure, so that the pipeline robot is easy to incline when walking, the walking stability of the pipeline robot on the inner wall of the pipeline is reduced, and meanwhile, the phenomenon of inclined clamping is easy to occur when the pipeline robot walks;
2. the pipeline robot is easy to appear in the walking process, and the phenomenon that the pipeline robot is blocked when walking to the bent pipe of the pipeline is caused due to the overlong pipeline robot.
Disclosure of Invention
Technical scheme (I)
In order to achieve the purpose, the invention adopts the following technical scheme that the self-stabilizing walking mechanism of the pipeline robot comprises walking unit sections, adjusting groups, auxiliary wheel groups, a driving group and walking groups, wherein the walking unit sections are equidistantly arranged from left to right, the adjusting groups are arranged at two ends of each walking unit section, the auxiliary wheel groups and the driving groups are arranged on the adjusting groups, and the walking groups are arranged on the walking unit sections;
the walking unit festival include ladder groove, stopper, movable plate, Contraband shape groove, connecting axle and walking wheel, the walking unit festival be the rectangular block structure, the ladder groove has been seted up to the lower terminal surface of walking unit festival, the stopper is installed to ladder inslot symmetry, install the movable plate between the stopper, Contraband shape groove has been seted up on the movable plate, the walking wheel is installed through the connecting axle to Contraband inslot, the connecting axle is connected through the bearing between the shape groove, the walking unit festival comprises multisection or single section, wherein the movable plate on every section can carry out concertina movement at the ladder inslot to thereby make the movable plate can adjust the distance between walking wheel and the walking unit festival according to the size of pipeline.
The adjusting group comprises a first ear plate, a supporting disk, a rotating shaft, a gear disk, a second ear plate, connecting shafts, a push-pull rod, an arc-shaped through groove and a driving column, wherein the first ear plate is symmetrically arranged at the left end and the right end of the walking unit joint, the supporting disk is arranged at the two ends of the walking unit joint, the rotating shaft is arranged on the supporting disk, the gear disk is sleeved on the rotating shaft through a bearing, the second ear plate is symmetrically arranged on the rotating shaft between the walking unit joints and the supporting disk, the connecting shafts are arranged between the second ear plate and the first ear plate, the two ends of the connecting shafts are respectively hinged with the first ear plate and the second ear plate, telescopic grooves are formed in the supporting disk and are arranged at equal intervals along the circumferential direction of the supporting disk, the push-pull rods are arranged in the telescopic grooves, the arc-shaped through grooves are arranged at equal intervals along the circumferential direction of the gear disk, the number of the arc-shaped through grooves corresponds to the number of the telescopic grooves one by one, the driving column is arranged on the push-pull rods, drive the post and run through the arc and lead to the groove, the rotation of toothed disc makes the arc on the toothed disc lead to the groove and drives the drive post and remove, thereby it removes at flexible inslot to drive push-and-pull rod 26, thereby make supplementary wheelset adjust according to the size of pipeline, make supplementary wheelset support the walking with pipeline inner wall multiple spot, guarantee the stability of walking at the pipeline inner wall, avoid the pipeline robot to block in the slope of walking in-process, link together supporting disk and walking unit festival through even axle simultaneously, and even axle is through articulated mode and otic placode, No. two otic placodes are connected, be convenient for turn round the card post in return bend department, walking unit festival card in pipeline department of having avoided handing over long through the articulated of connecting axle, the walking convenience of walking unit festival has been improved.
The driving set comprises a driving shaft, a driving gear, a connecting rod, a first positive and negative rotation motor, a gear shaft and a main gear, the driving shaft is arranged on the supporting plate through a bearing, the driving gear meshed with the gear plate is sleeved on the driving shaft, the driving shaft penetrates through the supporting plate, the connecting rod is arranged between the left driving shaft and the right driving shaft, two ends of the connecting rod are respectively hinged with the left driving shaft and the right driving shaft, one of the supporting plates on the left side and the right side is provided with the first positive and negative rotation motor through a rack, the gear shaft is arranged on the supporting plate through a bearing, the gear shaft and the driving shaft are sleeved with the main gear which is meshed with each other, the output shaft of the first positive and negative rotation motor is connected with the gear shaft, the gear shaft is driven to rotate through the positive and negative rotation motor, the gear shaft drives the driving shaft to rotate through the meshing between the main gears, and drives the driving shafts to rotate through the connection of the connecting rod, the rotation of drive axis drives the drive gear and rotates, drives gear revolve and drives the toothed disc through the meshing with the toothed disc and rotate to make the toothed disc rotate and adjust, drive the articulated cooperation between axis and the connecting rod, be convenient for drive and bend between axis and the connecting rod, the phenomenon of blocking when avoiding the supporting disk to walk the return bend department of pipeline.
The walking set comprises a vertical plate, a rotating shaft, a helical gear, a connecting rod, a second forward and reverse rotating motor and a rotating rod, wherein the connecting shaft penetrates through a moving plate, the vertical plate is installed on the moving plate, the rotating shaft is installed on the vertical plate through a bearing, the helical gear which is meshed with the rotating shaft is sleeved on the rotating shaft and the connecting shaft, the connecting rod is installed on a push-pull rod at the lowest part through a bearing, the left rotating shaft and the right rotating shaft are connected through a hinging mode at two ends of the connecting rod, the second forward and reverse rotating motor is installed on a push-pull rod, the rotating rod is installed on an output shaft of the second forward and reverse rotating motor, the rotating rod is hinged with one end of the rotating shaft which is not connected with the connecting rod, the rotating rod is driven to rotate through the second forward and reverse rotating motor, the rotating shaft is driven to rotate through the helical gear meshing mode to drive the connecting shaft to rotate, so as to drive the walking wheel to walk, and the connecting rod is installed on the push-pull rod through a bearing, and then the movable plate is connected with the rotating shaft, so that the push-pull rod drives the movable plate to move synchronously when moving, the movable plate drives the traveling wheels to adjust the distance synchronously, and the phenomenon that the inner wall of the pipeline is not stuck when the pipeline travels is avoided.
As a preferred technical scheme of the invention, the auxiliary wheel set comprises an arc-shaped plate, a v-shaped groove, auxiliary rollers and convex point semicircles, the arc-shaped plate is mounted on the push-pull rod, the v-shaped plate is provided with the v-shaped groove, the v-shaped groove and the v-shaped groove are equidistantly formed along the outer arc-shaped surface of the arc-shaped plate, the v-shaped groove is of an upward opening structure, the v-shaped groove is hinged with the auxiliary rollers, the convex point semicircles are mounted on the auxiliary rollers, the arc-shaped plate drives the auxiliary rollers to make multi-point contact with the inner wall of the pipeline under the adjusting action of the push-pull rod, and meanwhile, the contact points form a circle and multi-point circular contact, so that the contact points between the walking unit sections and the pipeline are increased, the walking stability of the walking unit sections is enhanced, and the phenomenon that a pipeline robot is obliquely clamped in the walking process is avoided.
As a preferred technical scheme of the present invention, both ends of the rotating shaft and the driving shaft are respectively provided with a concave groove, the connecting rod and the connecting rod are respectively provided with a convex groove, the protruding portions of the connecting rod and the connecting rod are respectively located in the concave grooves of the rotating shaft and the driving shaft, the connecting rod and the rotating shaft are connected through a hinge, and the connecting rod and the driving shaft are connected through a hinge, so as to facilitate matching with a steering phenomenon at a bent pipe.
As a preferable technical scheme of the invention, the walking wheel is provided with a V-shaped groove to increase the friction force of the walking wheel.
(II) advantageous effects
1. The adjusting group adopted by the invention can adjust and support the auxiliary wheel group according to the size of the pipeline and support the auxiliary wheel group on the inner wall of the pipeline, so that the auxiliary wheel group and the inner wall of the pipeline can support and walk at multiple points, the walking stability on the inner wall of the pipeline is ensured, the pipeline robot is prevented from being obliquely clamped in the walking process, meanwhile, the driving group is adopted to drive the adjusting group to carry out rotation adjustment, the driving shaft is in hinged fit with the connecting rod, the driving shaft and the connecting rod are convenient to bend, and the phenomenon that the supporting disk is clamped when the supporting disk walks to the bent pipe of the pipeline is avoided;
2. the connecting shaft connects the supporting disc with the walking unit section together, and the connecting shaft is connected with the first ear plate and the second ear plate in a hinged mode, so that the column can be conveniently bent and clamped at the bent pipe, the long walking unit section is prevented from being clamped at the bent pipe of the pipeline through the hinged connection of the connecting shaft, and the walking convenience of the walking unit section is improved;
3. the rotation of toothed disc make the arc on the toothed disc lead to the groove and drive the drive post and remove to drive the push-and-pull rod and remove at flexible inslot, thereby make the supplementary wheelset adjust according to the size of pipeline, improved the stability of robot walking, avoid pipeline robot to block in the slope of walking in-process.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of an adjustment group of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 in accordance with the present invention;
FIG. 4 is a front cross-sectional view of the present invention;
FIG. 5 is a partial view of FIG. 4 of the present invention;
FIG. 6 is an enlarged view of a portion of the invention at B of FIG. 4;
fig. 7 is a schematic perspective view of the rotating shaft and the connecting rod according to the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
As shown in fig. 1 to 7, a self-stabilizing walking mechanism of a pipeline robot comprises walking unit sections 1, adjusting groups 2, auxiliary wheel groups 3, driving groups 4 and walking groups 5, wherein the walking unit sections 1 are equidistantly arranged from left to right, the adjusting groups 2 are arranged at two ends of the walking unit sections 1, the auxiliary wheel groups 3 and the driving groups 4 are arranged on the adjusting groups 2, and the walking groups 5 are arranged on the walking unit sections 1;
The walking wheels 15 are provided with V-shaped grooves 150, so that the friction force of the walking wheels 15 is increased.
The adjusting group 2 comprises a first ear plate 20, a supporting plate 21, a rotating shaft 22, a gear disc 23, a second ear plate 24, a connecting shaft 25, a push-pull rod 26, an arc through groove 27 and a driving column 28, the first ear plate 20 is symmetrically arranged at the left end and the right end of the walking unit joint 1, the supporting plate 21 is arranged at the two ends of the walking unit joint 1, the rotating shaft 22 is arranged on the supporting plate 21, the gear disc 23 is sleeved on the rotating shaft 22 through a bearing, the second ear plate 24 is symmetrically arranged on the rotating shaft 22 and the supporting plate 21 between the walking unit joints 1, the connecting shaft 25 is arranged between the second ear plate 24 and the first ear plate 20, the two ends of the connecting shaft 25 are respectively hinged with the first ear plate 20 and the second ear plate 24, telescopic grooves are arranged on the supporting plate 21 in a circumferential direction and are arranged at equal intervals, the push-pull rod 26 is arranged in the telescopic grooves, the arc through groove 27 is arranged on the gear disc 23, the arc through grooves 27 are arranged along the circumferential direction of the gear disc 23 at equal intervals, the number of the arc through grooves 27 corresponds to the number of the telescopic grooves one by one, the push-pull rod 26 is provided with the driving posts 28, the driving posts 28 penetrate through the arc through grooves, the rotation of the gear disc 23 enables the arc through grooves 27 on the gear disc 23 to drive the driving posts 28 to move, so that the push-pull rod 26 is driven to move in the telescopic grooves, the auxiliary wheel set 3 can be adjusted according to the size of a pipeline, the auxiliary wheel set 3 is supported and walks with multiple points on the inner wall of the pipeline, the stability of walking on the inner wall of the pipeline is ensured, the pipeline robot is prevented from being obliquely clamped in the walking process, the supporting disc 21 is connected with the walking unit joint 1 through the connecting shaft 25, the connecting shaft 25 is connected with the first lug plate 20 and the second lug plate 24 in a hinged mode, the column is convenient to be clamped at the elbow, the column is prevented from being clamped at the elbow by the connecting shaft 25 in a hinged mode, the walking convenience of the walking unit section 1 is improved.
The auxiliary wheel set 3 comprises an arc-shaped plate 30, a v-shaped groove 31, auxiliary roller wheels 32 and convex point semicircles 33, the arc-shaped plate 30 is installed on the push-pull rod 26, the v-shaped plate 30 is provided with the v-shaped groove 31, the v-shaped groove 32 and the convex point semicircles 33, the v-shaped groove 31 is formed along the outer arc-shaped surface of the arc-shaped plate 30 at equal intervals, the v-shaped groove 31 is of an upward opening structure, the v-shaped groove 2127431 is internally hinged with the auxiliary roller wheels 32, the convex point semicircles 33 are installed on the auxiliary roller wheels 32, under the adjusting action of the push-pull rod 26, the arc-shaped plate 30 is driven to be an auxiliary wheel to make multi-point contact with the inner wall of the pipeline, meanwhile, the contact points form a circle and the multi-point circle contact, so that the contact points between the walking unit section 1 and the pipeline are increased, the walking stability of the walking unit section 1 is enhanced, and the phenomenon that the pipeline robot is prevented from being clamped in the walking process.
The driving group 4 comprises a driving shaft 40, a driving gear 41, a connecting rod 42, a first positive and negative rotation motor 43, a gear shaft 44 and a main gear 45, the driving shaft 40 is installed on the supporting plate 21 through a bearing, the driving shaft 40 is sleeved with the driving gear 41 meshed with the gear plate 23, the driving shaft 40 penetrates through the supporting plate 21, the connecting rod 42 is arranged between the left driving shaft 40 and the right driving shaft 40, two ends of the connecting rod 42 are respectively hinged with the left driving shaft 40 and the right driving shaft 40, one of the supporting plates 21 on the left side and the right side is provided with the first positive and negative rotation motor 43 through a rack, the supporting plate 21 is provided with the gear shaft 44 through a bearing, the gear shaft 44 and the driving shaft 40 are sleeved with the meshed main gear 45, an output shaft of the first positive and negative rotation motor 43 is connected with the gear shaft 44, the gear shaft 41 is driven to rotate through the first positive and negative rotation motor 43, the gear shaft 44 drives the driving shaft 40 to rotate through meshing between the main gear 45, drive the rotation through connecting rod 42's connection between the axle 40, the rotation of driving axle 40 drives drive gear 41 and rotates, drive gear 41 and rotate and drive gear plate 23 through the meshing with gear plate 23 and rotate, thereby make gear plate 23 rotate and adjust, drive articulated cooperation between axle 40 and the connecting rod 42, be convenient for bend between axle 40 and the connecting rod 42, the phenomenon of blocking when avoiding supporting disk 21 to walk the return bend department of pipeline.
The traveling group 5 comprises a vertical plate 50, a rotating shaft 51, a helical gear 52, a connecting rod 53, a second forward and reverse rotation motor 54 and a rotating rod 55, the connecting shaft 14 penetrates through the moving plate 12, the vertical plate 50 is installed on the moving plate 12, the rotating shaft 51 is installed on the vertical plate 50 through a bearing, the helical gear 52 which is meshed with the rotating shaft 51 is sleeved on the connecting shaft 14, the connecting rod 53 is installed on the push-pull rod 26 at the lowest part through a bearing, the left and right rotating shafts 51 are connected with two ends of the connecting rod 53 in a hinged mode, the second forward and reverse rotation motor 54 is installed on the push-pull rod 26, the rotating rod 55 is installed on an output shaft of the second forward and reverse rotation motor 54, the rotating rod 55 is hinged with one end of the rotating shaft 51 which is not connected with the connecting rod 53, the rotating rod 55 is driven to rotate by the second forward and reverse rotation motor 54, the rotating rod 55 drives the rotating shaft 51 to rotate by the connecting rod 53, so that the rotating shaft 51 drives the connecting shaft 14 to rotate by the helical gear 52 in a meshed mode, therefore, the travelling wheels 15 are driven to travel, the connecting rod 53 is mounted on the push-pull rod 26 through a bearing and then is connected with the rotating shaft 51, so that the push-pull rod 26 drives the moving plate 12 to move synchronously when moving, the moving plate 12 drives the travelling wheels 15 to adjust the distance synchronously, and the phenomenon that the travelling wheels do not stick to the inner wall of the pipeline is avoided.
The two ends of the rotating shaft 51 and the driving shaft 40 are both provided with concave grooves 510, the connecting rod 53 and the connecting rod 42 are both provided with convex grooves, the convex parts of the connecting rod 53 and the connecting rod 42 are respectively positioned in the concave grooves 510 of the rotating shaft 51 and the driving shaft 40, the connecting rod 53 and the rotating shaft 51 are connected through a hinge, and the connecting rod 42 and the driving shaft 40 are connected through a hinge, so that the steering phenomenon at the bent pipe is convenient to match.
During specific work, in the first step, the first forward and reverse rotation motor 43 drives the gear shaft 41 to rotate, so that the rotation of the driving shaft 40 drives the driving gear 41 to rotate, the driving gear 41 rotates to drive the gear disc 23 to rotate through meshing with the gear disc 23, the rotation of the gear disc 23 enables the arc-shaped through groove 27 on the gear disc 23 to drive the driving post 28 to move, and the push-pull rod 26 is driven to move in the telescopic groove, so that the auxiliary wheel set 3 can be adjusted according to the size of a pipeline, the auxiliary wheel set 3 and the inner wall of the pipeline can be supported and moved at multiple points, the stability of walking on the inner wall of the pipeline is ensured, and the pipeline robot is prevented from being obliquely clamped in the walking process;
and secondly, driving a rotating rod 55 to rotate through a second forward and reverse rotation motor 54, driving the rotating rod 51 to rotate through a connecting rod 53 by the rotating rod 55, driving the connecting shaft 14 to rotate through a mode of meshing the bevel gear 52 by the rotating shaft 51, driving the traveling wheels 15 to travel, installing the connecting rod 53 on the push-pull rod 26 through a bearing, and then connecting the connecting rod 53 with the rotating shaft 51, driving the moving plate 12 to synchronously move when the push-pull rod 26 moves, driving the traveling wheels 15 to synchronously adjust the distance by the moving plate 12, and avoiding the phenomenon that the inner wall of the pipeline is not stuck during traveling.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (4)
1. The utility model provides a pipeline robot is from steady running gear, includes walking unit festival (1), regulation group (2), auxiliary wheel group (3), drives group (4) and walking group (5), its characterized in that: the walking unit sections (1) are arranged at equal intervals from left to right, adjusting groups (2) are arranged at two ends of each walking unit section (1), auxiliary wheel groups (3) and driving groups (4) are arranged on the adjusting groups (2), and walking groups (5) are arranged on the walking unit sections (1);
the walking unit section (1) comprises stepped grooves (10), limiting blocks (11), a moving plate (12), a lifting device (21274), a shape groove, a connecting shaft (14) and walking wheels (15), the walking unit section (1) is of a rectangular block structure, the stepped grooves (10) are formed in the lower end face of the walking unit section (1), the limiting blocks (11) are symmetrically arranged in the stepped grooves (10), the moving plate (12) is arranged between the limiting blocks (11), Contraband-shaped grooves are formed in the moving plate (12), the walking wheels (15) are arranged in the Contraband-shaped grooves through the connecting shaft (14), and the connecting shaft (14) is connected with the shape groove (21274);
the adjusting group (2) comprises a first ear plate (20), a supporting disc (21), a rotating shaft (22), a gear disc (23), a second ear plate (24), a connecting shaft (25), a push-pull rod (26), an arc-shaped through groove (27) and a driving column (28), the first ear plate (20) is symmetrically installed at the left end and the right end of the walking unit joint (1), the supporting disc (21) is arranged at each of the two ends of the walking unit joint (1), the rotating shaft (22) is installed on the supporting disc (21), the gear disc (23) is sleeved on the rotating shaft (22) through a bearing, the second ear plate (24) is symmetrically installed on the rotating shaft (22) between the walking unit joints (1) and the supporting disc (21), the connecting shaft (25) is arranged between the second ear plate (24) and the first ear plate (20), and the second ear plate (24) are hinged at each of the connecting shaft (25), the supporting plate (21) is provided with telescopic grooves which are distributed at equal intervals along the circumferential direction of the supporting plate (21), push-pull rods (26) are arranged in the telescopic grooves, arc-shaped through grooves (27) are formed in the gear plate (23), the arc-shaped through grooves (27) are distributed at equal intervals along the circumferential direction of the gear plate (23), the number of the arc-shaped through grooves (27) corresponds to the number of the telescopic grooves one by one, the push-pull rods (26) are provided with driving columns (28), and the driving columns (28) penetrate through the arc-shaped through grooves;
the driving group (4) comprises a driving shaft (40), a driving gear (41), a connecting rod (42), a first forward and reverse rotating motor (43), a gear shaft (44) and a main gear (45), the device is characterized in that a driving shaft (40) is mounted on the supporting plate (21) through a bearing, a driving gear (41) meshed with the gear plate (23) is sleeved on the driving shaft (40), the driving shaft (40) penetrates through the supporting plate (21), a connecting rod (42) is arranged between the left driving shaft (40) and the right driving shaft (40), two ends of the connecting rod (42) are respectively hinged with the left driving shaft (40) and the right driving shaft (40), one of the supporting plates (21) on the left side and the right side is provided with a forward and reverse rotation motor (43) through a rack, a gear shaft (44) is mounted on the supporting plate (21) through a bearing, a main gear (45) meshed with each other is sleeved on the gear shaft (44) and the driving shaft (40), and an output shaft of the forward and reverse rotation motor (43) is connected with the gear shaft (44);
the walking group (5) comprises a vertical plate (50), a rotating shaft (51), a helical gear (52), a connecting rod (53), a second forward and reverse rotating motor (54) and a rotating rod (55), the movable plate (12) is penetrated by the connecting shaft (14), the vertical plate (50) is installed on the movable plate (12), the rotating shaft (51) is installed on the vertical plate (50) through a bearing, the rotating shaft (51) and the connecting shaft (14) are sleeved with the bevel gears (52) which are meshed with each other, the connecting rod (53) is installed on the push-pull rod (26) at the lowest part through the bearing, the left rotating shaft (51) and the right rotating shaft (51) are connected at two ends of the connecting rod (53) in a hinged mode, the second forward and reverse rotating motor (54) is installed on the push-pull rod (26), the rotating rod (55) is installed on the output shaft of the second forward and reverse rotating motor (54), and the rotating rod (55) is hinged with one end, which is not connected with the connecting rod (53), of the rotating shaft (51).
2. The self-stabilizing walking mechanism of the pipeline robot as claimed in claim 1, wherein: the auxiliary wheel set (3) comprises an arc plate (30), a v-shaped groove (31), auxiliary rollers (32) and a convex point semicircle (33), the arc plate (30) is installed on the push-pull rod (26), the v-shaped groove (31) and the v-shaped groove (31) are formed in the arc plate (30), the v-shaped groove (31) is formed in the arc plate (30) at equal intervals, the v-shaped groove (31) is of an upward opening structure, the v-shaped groove (31) is hinged to the auxiliary rollers (32) in the v-shaped groove (31), and the convex point semicircle (33) is installed on the auxiliary rollers (32).
3. The self-stabilizing walking mechanism of the pipeline robot as claimed in claim 1, wherein: the connecting rod (53) and the protruding part of the connecting rod (42) are respectively positioned in the concave grooves (510) of the rotating shaft (51) and the driving shaft (40), the connecting rod (53) and the rotating shaft (51) are connected through a hinge, and the connecting rod (42) and the driving shaft (40) are connected through a hinge.
4. The self-stabilizing walking mechanism of the pipeline robot as claimed in claim 1, wherein: the walking wheels (15) are provided with V-shaped grooves (150).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110387328.3A CN113090865B (en) | 2021-04-09 | 2021-04-09 | Self-stabilizing walking mechanism of pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110387328.3A CN113090865B (en) | 2021-04-09 | 2021-04-09 | Self-stabilizing walking mechanism of pipeline robot |
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| Publication Number | Publication Date |
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| CN113090865A CN113090865A (en) | 2021-07-09 |
| CN113090865B true CN113090865B (en) | 2021-12-14 |
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| CN202110387328.3A Active CN113090865B (en) | 2021-04-09 | 2021-04-09 | Self-stabilizing walking mechanism of pipeline robot |
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